Modeling the internal and external constraints of a flexible endoscope for calculating its workspace: application in transbronchial needle aspiration guidance

Markus Kukuk

doi:10.1117/12.466958

17 May 2002 Modeling the internal and external constraints of a flexible endoscope for calculating its workspace: application in transbronchial needle aspiration guidance

Markus Kukuk

Author Affiliations +

Proceedings Volume 4681, Medical Imaging 2002: Visualization, Image-Guided Procedures, and Display; (2002) https://doi.org/10.1117/12.466958
Event: Medical Imaging 2002, 2002, San Diego, California, United States

Abstract

In robotics, the term workspace denotes that volume of space which the end-effector of a robot can reach. Similarly we denote the workspace of a flexible endoscope as the volume of space that can be occupied by the entire endoscope. From the endoscope's perspective, the workspace is determined by its internal (mechanical) constraints, as well by its external constraints, like organ geometry and gravity. In this paper we show how to calculate the workspace of a given endoscope under insertion into a patient specific organ model. We propose a model of an endoscope that takes the internal constraints into account. We also propose an algorithm which simulates the insertion of an endoscope into an organ. This algorithm calculates the workspace by recursively building a spatial tree whose growth is constrained by a series of filter functions. As Kukuk et al. showed, knowing a real endoscope's workspace can be used to significantly increase the success rate of a blind biopsy. We have built an experimental setup (lung phantom) that allows us to assess the accuracy of our model by comparing it to a real endoscope.

Citation Download Citation

Markus Kukuk "Modeling the internal and external constraints of a flexible endoscope for calculating its workspace: application in transbronchial needle aspiration guidance", Proc. SPIE 4681, Medical Imaging 2002: Visualization, Image-Guided Procedures, and Display, (17 May 2002); https://doi.org/10.1117/12.466958

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available